数字海洋与水下攻防2024，Vol.7Issue(5)：507-520,14.DOI:10.19838/j.issn.2096-5753.2024.05.007
自主式水下机器人推进器故障诊断综述
Review of Fault Diagnosis for Autonomous Underwater Vehicle Thrusters
摘要
Abstract
The autonomous underwater vehicle operates in a complex marine environment without a cable.AUV equipment is developing towards large-scale,high-speed,precision,systematization and automation.The safety,stability and long-term operation of the AUV are the key issues that need to be studied.AUV thruster is the core and the heaviest component of the AUV.Fault diagnosis technology of the thruster plays an extremely important role in ensuring AUV safe operation.Fault features of the thruster are weak and vulnerable to the interference of external random features such as ocean currents.With the increase of equipment detection sensors and sampling frequency,it is conducive to the establishment of new theories and commonly recognized solutions for thruster fault diagnosis.Research on fault diagnosis theory and method of thrusters,especially on fault identification and fault tolerance control related to thrusters,can effectively enhance the reliability of AUV and promote the practical process of AUV.The theoretical value and engineering application value of relevant research are very great.关键词
自主式水下机器人/推进器/故障诊断Key words
autonomous underwater vehicle/thruster/fault diagnosis分类
信息技术与安全科学引用本文复制引用
江洋,冯晨,何波..自主式水下机器人推进器故障诊断综述[J].数字海洋与水下攻防,2024,7(5):507-520,14.基金项目
国家重点研发计划"基于数据驱动技术和智慧型复合材料的自主式水下航行器研发"(2016YFC0301400). （2016YFC0301400）
